In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs ...
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ISBN:
(数字)9798331513283
ISBN:
(纸本)9798331513290
In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial Vehicles). Opposite to classical VS methods, the proposed approach allows reaching the desired target view, even when the target is initially not visible. This is possible thanks to the learning of a latent representation that the DDPM uses for planning and a dataset of trajectories encompassing target-invisible initial views. A compact representation is learned from raw images using a Cross-Modal Variational Autoencoder. Given the current image, the DDPM generates trajectories in the latent space driving the robotic platform to the desired visual target. The approach has been validated in simulation using two generic multi-rotor UAVs (a quadrotor and a hexarotor). The results show that we can successfully reach the visual target, even if not visible in the initial view. A video summary with simulations can be found in: https://***/2Hb3nkkcszE.
We study the local geometry of empirical risks in high dimensions via the spectral theory of their Hessian and information matrices. We focus on settings where the data, (Y)n=1 ∈ d, are i.i.d. draws of a k-component ...
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With the rise of artificial intelligence, many people nowadays use artificial intelligence to help solve some problems in life, and the medical field is also with the rise of artificial intelligence, many people are s...
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In this paper we consider the estimation of unknown parameters in Bayesian inverse problems. In most cases of practical interest, there are several barriers to performing such estimation, This includes a numerical app...
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Commonly recognized effects of sexual reproduction include increased diversity, improved adaptability, enabling of DNA repair, constrained accumulation of deleterious mutations, and species genotype homogenization. Ad...
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Legacy codes are in ubiquitous use in scientific simulations;they are well-tested and there is significant time investment in their use. However, one challenge is the adoption of new, sometimes incompatible computing ...
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We introduce a new two-player game on graphs, in which players alternate choosing vertices until the set of chosen vertices forms a dominating set. The last player to choose a vertex is the winner. The game fits into ...
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Obtaining causally interpretable meta-analysis results is challenging when there are differences in the distribution of effect modifiers between eligible trials. To overcome this, recent work on transportability metho...
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Over the past three decades, the epidemiological characteristics of dengue fever in Bangladesh have raised significant public health concerns, with the disease progressively spreading across the country's subtropi...
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Thyroid disease is a significant medical condition affecting approximately 20 million Americans. The thyroid gland regulates metabolism through hormones such as triiodothyronine (T3) and thyroxine (T4), with disorders...
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